In which TV series is Lorelai Gilmore a main character?

In which TV series is Hal a main character? Who played Malcolm in 'Malcolm in the Middle'? Who played Lois in 'Malcolm in the Middle'? Who played Lorelai Gilmore in 'Gilmore Girls'? Who played Rory Gilmore in 'Gilmore Girls'? In which TV series is Rory Gilmore a main character? Who played Luke Danes in 'Gilmore Girls'? In which TV series is Luke Danes a main character?